#include <map_builder_bridge.h>

Classes
struct	TrajectoryState

Public Member Functions
int	AddTrajectory (const std::set< ::cartographer::mapping::TrajectoryBuilderInterface::SensorId > &expected_sensor_ids, const TrajectoryOptions &trajectory_options)

void	FinishTrajectory (int trajectory_id)

visualization_msgs::MarkerArray	GetConstraintList ()

std::set< int >	GetFrozenTrajectoryIds ()

visualization_msgs::MarkerArray	GetLandmarkPosesList ()

cartographer_ros_msgs::SubmapList	GetSubmapList ()

visualization_msgs::MarkerArray	GetTrajectoryNodeList ()

std::unordered_map< int, TrajectoryState >	GetTrajectoryStates () EXCLUDES(mutex_)

void	HandleSubmapQuery (cartographer_ros_msgs::SubmapQuery::Request &request, cartographer_ros_msgs::SubmapQuery::Response &response)

void	LoadState (const std::string &state_filename, bool load_frozen_state)

	MapBuilderBridge (const NodeOptions &node_options, std::unique_ptr< cartographer::mapping::MapBuilderInterface > map_builder, tf2_ros::Buffer *tf_buffer)

	MapBuilderBridge (const MapBuilderBridge &)=delete

MapBuilderBridge &	operator= (const MapBuilderBridge &)=delete

void	RunFinalOptimization ()

SensorBridge *	sensor_bridge (int trajectory_id)

bool	SerializeState (const std::string &filename)

Private Member Functions
std::unordered_map< int, std::shared_ptr< const TrajectoryState::LocalSlamData > > trajectory_state_data_	GUARDED_BY (mutex_)

void	OnLocalSlamResult (const int trajectory_id, const ::cartographer::common::Time time, const ::cartographer::transform::Rigid3d local_pose, ::cartographer::sensor::RangeData range_data_in_local, const std::unique_ptr< const ::cartographer::mapping::TrajectoryBuilderInterface::InsertionResult > insertion_result) EXCLUDES(mutex_)

Private Attributes
std::unordered_map< std::string, int >	landmark_to_index_

std::unique_ptr< cartographer::mapping::MapBuilderInterface >	map_builder_

cartographer::common::Mutex	mutex_

const NodeOptions	node_options_

std::unordered_map< int, std::unique_ptr< SensorBridge > >	sensor_bridges_

tf2_ros::Buffer *const	tf_buffer_

std::unordered_map< int, TrajectoryOptions >	trajectory_options_

std::unordered_map< int, size_t >	trajectory_to_highest_marker_id_

Detailed Description

Definition at line 41 of file map_builder_bridge.h.

Constructor & Destructor Documentation

◆ MapBuilderBridge() [1/2]

cartographer_ros::MapBuilderBridge::MapBuilderBridge	(	const NodeOptions &	node_options,
		std::unique_ptr< cartographer::mapping::MapBuilderInterface >	map_builder,
		tf2_ros::Buffer *	tf_buffer
	)

Definition at line 98 of file map_builder_bridge.cc.

◆ MapBuilderBridge() [2/2]

cartographer_ros::MapBuilderBridge::MapBuilderBridge ( const MapBuilderBridge & )

delete

Member Function Documentation

◆ AddTrajectory()

int cartographer_ros::MapBuilderBridge::AddTrajectory	(	const std::set< ::cartographer::mapping::TrajectoryBuilderInterface::SensorId > &	expected_sensor_ids,
		const TrajectoryOptions &	trajectory_options
	)

Definition at line 120 of file map_builder_bridge.cc.

◆ FinishTrajectory()

void cartographer_ros::MapBuilderBridge::FinishTrajectory ( int trajectory_id )

Definition at line 146 of file map_builder_bridge.cc.

◆ GetConstraintList()

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetConstraintList ( )

Definition at line 365 of file map_builder_bridge.cc.

◆ GetFrozenTrajectoryIds()

std::set< int > cartographer_ros::MapBuilderBridge::GetFrozenTrajectoryIds ( )

Definition at line 197 of file map_builder_bridge.cc.

◆ GetLandmarkPosesList()

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetLandmarkPosesList ( )

Definition at line 353 of file map_builder_bridge.cc.

◆ GetSubmapList()

cartographer_ros_msgs::SubmapList cartographer_ros::MapBuilderBridge::GetSubmapList ( )

Definition at line 208 of file map_builder_bridge.cc.

◆ GetTrajectoryNodeList()

visualization_msgs::MarkerArray cartographer_ros::MapBuilderBridge::GetTrajectoryNodeList ( )

Definition at line 253 of file map_builder_bridge.cc.

◆ GetTrajectoryStates()

std::unordered_map< int, MapBuilderBridge::TrajectoryState > cartographer_ros::MapBuilderBridge::GetTrajectoryStates ( )

Definition at line 225 of file map_builder_bridge.cc.

◆ GUARDED_BY()

std::unordered_map<int, std::shared_ptr<const TrajectoryState::LocalSlamData> > trajectory_state_data_ cartographer_ros::MapBuilderBridge::GUARDED_BY ( mutex_ )

private

◆ HandleSubmapQuery()

void cartographer_ros::MapBuilderBridge::HandleSubmapQuery	(	cartographer_ros_msgs::SubmapQuery::Request &	request,
		cartographer_ros_msgs::SubmapQuery::Response &	response
	)

Definition at line 166 of file map_builder_bridge.cc.

◆ LoadState()

void cartographer_ros::MapBuilderBridge::LoadState	(	const std::string &	state_filename,
		bool	load_frozen_state
	)

Definition at line 106 of file map_builder_bridge.cc.

◆ OnLocalSlamResult()

void cartographer_ros::MapBuilderBridge::OnLocalSlamResult	(	const int	trajectory_id,
		const ::cartographer::common::Time	time,
		const ::cartographer::transform::Rigid3d	local_pose,
		::cartographer::sensor::RangeData	range_data_in_local,
		const std::unique_ptr< const ::cartographer::mapping::TrajectoryBuilderInterface::InsertionResult >	insertion_result
	)

private

Definition at line 494 of file map_builder_bridge.cc.

◆ operator=()

MapBuilderBridge& cartographer_ros::MapBuilderBridge::operator= ( const MapBuilderBridge & )

delete

◆ RunFinalOptimization()

void cartographer_ros::MapBuilderBridge::RunFinalOptimization ( )

Definition at line 155 of file map_builder_bridge.cc.

◆ sensor_bridge()

SensorBridge * cartographer_ros::MapBuilderBridge::sensor_bridge ( int trajectory_id )

Definition at line 490 of file map_builder_bridge.cc.

◆ SerializeState()

bool cartographer_ros::MapBuilderBridge::SerializeState ( const std::string & filename )

Definition at line 160 of file map_builder_bridge.cc.

Member Data Documentation

◆ landmark_to_index_

std::unordered_map<std::string , int> cartographer_ros::MapBuilderBridge::landmark_to_index_

private

Definition at line 106 of file map_builder_bridge.h.

◆ map_builder_

std::unique_ptr<cartographer::mapping::MapBuilderInterface> cartographer_ros::MapBuilderBridge::map_builder_

private

Definition at line 103 of file map_builder_bridge.h.

◆ mutex_

cartographer::common::Mutex cartographer_ros::MapBuilderBridge::mutex_

private

Definition at line 99 of file map_builder_bridge.h.

◆ node_options_

const NodeOptions cartographer_ros::MapBuilderBridge::node_options_

private

Definition at line 100 of file map_builder_bridge.h.

◆ sensor_bridges_

std::unordered_map<int, std::unique_ptr<SensorBridge> > cartographer_ros::MapBuilderBridge::sensor_bridges_

private

Definition at line 110 of file map_builder_bridge.h.

◆ tf_buffer_

tf2_ros::Buffer* const cartographer_ros::MapBuilderBridge::tf_buffer_

private

Definition at line 104 of file map_builder_bridge.h.

◆ trajectory_options_

std::unordered_map<int, TrajectoryOptions> cartographer_ros::MapBuilderBridge::trajectory_options_

private

Definition at line 109 of file map_builder_bridge.h.

◆ trajectory_to_highest_marker_id_

std::unordered_map<int, size_t> cartographer_ros::MapBuilderBridge::trajectory_to_highest_marker_id_

private

Definition at line 111 of file map_builder_bridge.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MapBuilderBridge() [1/2]

◆ MapBuilderBridge() [2/2]

Member Function Documentation

◆ AddTrajectory()

◆ FinishTrajectory()

◆ GetConstraintList()

◆ GetFrozenTrajectoryIds()

◆ GetLandmarkPosesList()

◆ GetSubmapList()

◆ GetTrajectoryNodeList()

◆ GetTrajectoryStates()

◆ GUARDED_BY()

◆ HandleSubmapQuery()

◆ LoadState()

◆ OnLocalSlamResult()

◆ operator=()

◆ RunFinalOptimization()

◆ sensor_bridge()

◆ SerializeState()

Member Data Documentation

◆ landmark_to_index_

◆ map_builder_

◆ mutex_

◆ node_options_

◆ sensor_bridges_

◆ tf_buffer_

◆ trajectory_options_

◆ trajectory_to_highest_marker_id_